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<p>General purpose testing and demo program, using <a class="el" href="classArMode.html" title="A class for different modes, mostly as related to keyboard input. ">ArMode</a> classes to provide keyboard control of various robot functions.demo uses <a class="el" href="classArMode.html" title="A class for different modes, mostly as related to keyboard input. ">ArMode</a> subclasses from ARIA. These modes provide keyboard control of various aspects and accessories of the robot, and can be re-used in your programs if you wish. The <a class="el" href="classArMode.html" title="A class for different modes, mostly as related to keyboard input. ">ArMode</a> classes are defined in ArModes.cpp.</p>
<p>"demo" is a useful program for testing out the operation of the robot for diagnostic or demonstration purposes. Other example programs focus on individual areas.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include &quot;Aria.h&quot;</span></div><div class="line"></div><div class="line"></div><div class="line"><span class="keywordtype">bool</span> handleDebugMessage(<a name="_a0"></a><a class="code" href="classArRobotPacket.html">ArRobotPacket</a> *pkt)</div><div class="line">{</div><div class="line">  <span class="keywordflow">if</span>(pkt-&gt;<a name="a1"></a><a class="code" href="classArRobotPacket.html#a0e41b0bbe73260cff302094500a51b7d">getID</a>() != <a name="a2"></a><a class="code" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aae535bc1e7bd32f6d07305934cfaf245">ArCommands::MARCDEBUG</a>) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line">  <span class="keywordtype">char</span> msg[256];</div><div class="line">  pkt-&gt;<a name="a3"></a><a class="code" href="classArBasePacket.html#a8f1536daa451024715fe82cec495e826">bufToStr</a>(msg, <span class="keyword">sizeof</span>(msg));</div><div class="line">  msg[255] = 0;</div><div class="line">  <a name="a4"></a><a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a5"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;Controller Firmware Debug: %s&quot;</span>, msg);</div><div class="line">  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line">}</div><div class="line"></div><div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv)</div><div class="line">{</div><div class="line">  <span class="comment">// Initialize some global data</span></div><div class="line">  <a name="a6"></a><a class="code" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73">Aria::init</a>();</div><div class="line"></div><div class="line">  <span class="comment">// If you want ArLog to print &quot;Verbose&quot; level messages uncomment this:</span></div><div class="line">  <span class="comment">//ArLog::init(ArLog::StdOut, ArLog::Verbose);</span></div><div class="line"></div><div class="line">  <span class="comment">// This object parses program options from the command line</span></div><div class="line">  <a name="_a7"></a><a class="code" href="classArArgumentParser.html">ArArgumentParser</a> parser(&amp;argc, argv);</div><div class="line"></div><div class="line">  <span class="comment">// Load some default values for command line arguments from /etc/Aria.args</span></div><div class="line">  <span class="comment">// (Linux) or the ARIAARGS environment variable.</span></div><div class="line">  parser.<a name="a8"></a><a class="code" href="classArArgumentParser.html#a501694b62a7f8b0c3cadd84aeafe1b35">loadDefaultArguments</a>();</div><div class="line"></div><div class="line">  <span class="comment">// Central object that is an interface to the robot and its integrated</span></div><div class="line">  <span class="comment">// devices, and which manages control of the robot by the rest of the program.</span></div><div class="line">  <a name="_a9"></a><a class="code" href="classArRobot.html">ArRobot</a> robot;</div><div class="line"></div><div class="line">  <span class="comment">// Object that connects to the robot or simulator using program options</span></div><div class="line">  <a name="_a10"></a><a class="code" href="classArRobotConnector.html">ArRobotConnector</a> robotConnector(&amp;parser, &amp;robot);</div><div class="line"></div><div class="line">  <span class="comment">// If the robot has an Analog Gyro, this object will activate it, and </span></div><div class="line">  <span class="comment">// if the robot does not automatically use the gyro to correct heading,</span></div><div class="line">  <span class="comment">// this object reads data from it and corrects the pose in ArRobot</span></div><div class="line">  <a name="_a11"></a><a class="code" href="classArAnalogGyro.html">ArAnalogGyro</a> gyro(&amp;robot);</div><div class="line"></div><div class="line">  robot.<a name="a12"></a><a class="code" href="classArRobot.html#a9710774cf8be7f146ca58f83dd076e3f">addPacketHandler</a>(<span class="keyword">new</span> <a name="_a13"></a><a class="code" href="classArGlobalRetFunctor1.html">ArGlobalRetFunctor1&lt;bool, ArRobotPacket*&gt;</a>(&amp;handleDebugMessage));</div><div class="line"></div><div class="line">  <span class="comment">// Connect to the robot, get some initial data from it such as type and name,</span></div><div class="line">  <span class="comment">// and then load parameter files for this robot.</span></div><div class="line">  <span class="keywordflow">if</span> (!robotConnector.<a name="a14"></a><a class="code" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d">connectRobot</a>())</div><div class="line">  {</div><div class="line">    <span class="comment">// Error connecting:</span></div><div class="line">    <span class="comment">// if the user gave the -help argumentp, then just print out what happened,</span></div><div class="line">    <span class="comment">// and continue so options can be displayed later.</span></div><div class="line">    <span class="keywordflow">if</span> (!parser.<a name="a15"></a><a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">    {</div><div class="line">      <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;Could not connect to robot, will not have parameter file so options displayed later may not include everything&quot;</span>);</div><div class="line">    }</div><div class="line">    <span class="comment">// otherwise abort</span></div><div class="line">    <span class="keywordflow">else</span></div><div class="line">    {</div><div class="line">      <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;Error, could not connect to robot.&quot;</span>);</div><div class="line">      <a name="a16"></a><a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">      <a name="a17"></a><a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">    }</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="keywordflow">if</span>(!robot.<a name="a18"></a><a class="code" href="group__easy.html#ga98b5d608fb9f33aec47a3fe1995dc5b6">isConnected</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;Internal error: robot connector succeeded but ArRobot::isConnected() is false!&quot;</span>);</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="comment">// Connector for laser rangefinders</span></div><div class="line">  <a name="_a19"></a><a class="code" href="classArLaserConnector.html">ArLaserConnector</a> laserConnector(&amp;parser, &amp;robot, &amp;robotConnector);</div><div class="line"></div><div class="line">  <span class="comment">// Connector for compasses</span></div><div class="line">  <a name="_a20"></a><a class="code" href="classArCompassConnector.html">ArCompassConnector</a> compassConnector(&amp;parser);</div><div class="line"></div><div class="line">  <span class="comment">// Parse the command line options. Fail and print the help message if the parsing fails</span></div><div class="line">  <span class="comment">// or if the help was requested with the -help option</span></div><div class="line">  <span class="keywordflow">if</span> (!<a name="a21"></a><a class="code" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1">Aria::parseArgs</a>() || !parser.<a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">  {    </div><div class="line">    <a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">    <span class="keywordflow">return</span> 1;</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="comment">// Used to access and process sonar range data</span></div><div class="line">  <a name="_a22"></a><a class="code" href="classArSonarDevice.html">ArSonarDevice</a> sonarDev;</div><div class="line">  </div><div class="line">  <span class="comment">// Used to perform actions when keyboard keys are pressed</span></div><div class="line">  <a name="_a23"></a><a class="code" href="classArKeyHandler.html">ArKeyHandler</a> keyHandler;</div><div class="line">  <a name="a24"></a><a class="code" href="classAria.html#a9e5496a4ec2c379c8e18706922b57cc1">Aria::setKeyHandler</a>(&amp;keyHandler);</div><div class="line"></div><div class="line">  <span class="comment">// ArRobot contains an exit action for the Escape key. It also </span></div><div class="line">  <span class="comment">// stores a pointer to the keyhandler so that other parts of the program can</span></div><div class="line">  <span class="comment">// use the same keyhandler.</span></div><div class="line">  robot.<a name="a25"></a><a class="code" href="classArRobot.html#ab4ea516667d2358f35b435d97b616ab1">attachKeyHandler</a>(&amp;keyHandler);</div><div class="line">  printf(<span class="stringliteral">&quot;You may press escape to exit\n&quot;</span>);</div><div class="line"></div><div class="line">  <span class="comment">// Attach sonarDev to the robot so it gets data from it.</span></div><div class="line">  robot.<a name="a26"></a><a class="code" href="classArRobot.html#a97d57b28549fdef851c00749a97cc776">addRangeDevice</a>(&amp;sonarDev);</div><div class="line"></div><div class="line">  </div><div class="line">  <span class="comment">// Start the robot task loop running in a new background thread. The &#39;true&#39; argument means if it loses</span></div><div class="line">  <span class="comment">// connection the task loop stops and the thread exits.</span></div><div class="line">  robot.<a name="a27"></a><a class="code" href="classArRobot.html#a3c3d878cfd11a2ef91230005a83bfcaa">runAsync</a>(<span class="keyword">true</span>);</div><div class="line"></div><div class="line">  <span class="comment">// Connect to the laser(s) if lasers were configured in this robot&#39;s parameter</span></div><div class="line">  <span class="comment">// file or on the command line, and run laser processing thread if applicable</span></div><div class="line">  <span class="comment">// for that laser class.  For the purposes of this demo, add all</span></div><div class="line">  <span class="comment">// possible lasers to ArRobot&#39;s list rather than just the ones that were</span></div><div class="line">  <span class="comment">// connected by this call so when you enter laser mode, you</span></div><div class="line">  <span class="comment">// can then interactively choose which laser to use from that list of all</span></div><div class="line">  <span class="comment">// lasers mentioned in robot parameters and on command line. Normally,</span></div><div class="line">  <span class="comment">// only connected lasers are put in ArRobot&#39;s list.</span></div><div class="line">  <span class="keywordflow">if</span> (!laserConnector.<a name="a28"></a><a class="code" href="classArLaserConnector.html#ab97ce6a5fedebf44526773bc674b970e">connectLasers</a>(</div><div class="line">        <span class="keyword">false</span>,  <span class="comment">// continue after connection failures</span></div><div class="line">        <span class="keyword">false</span>,  <span class="comment">// add only connected lasers to ArRobot</span></div><div class="line">        <span class="keyword">true</span>    <span class="comment">// add all lasers to ArRobot</span></div><div class="line">  ))</div><div class="line">  {</div><div class="line">     printf(<span class="stringliteral">&quot;Warning: Could not connect to laser(s). Set LaserAutoConnect to false in this robot&#39;s individual parameter file to disable laser connection.\n&quot;</span>);</div><div class="line">  }</div><div class="line"></div><div class="line"><span class="comment">/* not needed, robot connector will do it by default</span></div><div class="line"><span class="comment">  if (!sonarConnector.connectSonars(</span></div><div class="line"><span class="comment">        false,  // continue after connection failures</span></div><div class="line"><span class="comment">        false,  // add only connected lasers to ArRobot</span></div><div class="line"><span class="comment">        true    // add all lasers to ArRobot</span></div><div class="line"><span class="comment">  ))</span></div><div class="line"><span class="comment">  {</span></div><div class="line"><span class="comment">    printf(&quot;Could not connect to sonars... exiting\n&quot;);</span></div><div class="line"><span class="comment">    Aria::exit(2);</span></div><div class="line"><span class="comment">  }</span></div><div class="line"><span class="comment">*/</span></div><div class="line"></div><div class="line">  <span class="comment">// Create and connect to the compass if the robot has one.</span></div><div class="line">  <a name="_a29"></a><a class="code" href="classArTCM2.html">ArTCM2</a> *compass = compassConnector.<a name="a30"></a>create(&amp;robot);</div><div class="line">  <span class="keywordflow">if</span>(compass &amp;&amp; !compass-&gt;<a name="a31"></a><a class="code" href="classArTCM2.html#a03d68f7ee1b1ee2b6cf876c0908f43af">blockingConnect</a>()) {</div><div class="line">    compass = NULL;</div><div class="line">  }</div><div class="line">  </div><div class="line">  <span class="comment">// Sleep for a second so some messages from the initial responses</span></div><div class="line">  <span class="comment">// from robots and cameras and such can catch up</span></div><div class="line">  <a name="a32"></a><a class="code" href="group__easy.html#ga4dfb878a3f9123b8dd96ae05b2fd94cb">ArUtil::sleep</a>(1000);</div><div class="line"></div><div class="line">  <span class="comment">// We need to lock the robot since we&#39;ll be setting up these modes</span></div><div class="line">  <span class="comment">// while the robot task loop thread is already running, and they </span></div><div class="line">  <span class="comment">// need to access some shared data in ArRobot.</span></div><div class="line">  robot.<a name="a33"></a><a class="code" href="classArRobot.html#a5aecc7ac998c9a31b82fdb904efa8609">lock</a>();</div><div class="line"></div><div class="line">  <span class="comment">// now add all the modes for this demo</span></div><div class="line">  <span class="comment">// these classes are defined in ArModes.cpp in ARIA&#39;s source code.</span></div><div class="line">  </div><div class="line">  <span class="keywordflow">if</span>(robot.<a name="a34"></a><a class="code" href="classArRobot.html#abd59593d76f616951dc77110e55802f5">getOrigRobotConfig</a>()-&gt;<a name="a35"></a><a class="code" href="classArRobotConfigPacketReader.html#adcfb6f618bfdcd13741b09992b7d0f88">getHasGripper</a>())</div><div class="line">    <span class="keyword">new</span> <a name="_a36"></a><a class="code" href="classArModeGripper.html">ArModeGripper</a>(&amp;robot, <span class="stringliteral">&quot;gripper&quot;</span>, <span class="charliteral">&#39;g&#39;</span>, <span class="charliteral">&#39;G&#39;</span>);</div><div class="line">  <span class="keywordflow">else</span></div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a37"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;Robot does not indicate that it has a gripper.&quot;</span>);</div><div class="line">  <a name="_a38"></a><a class="code" href="classArModeActs.html">ArModeActs</a> actsMode(&amp;robot, <span class="stringliteral">&quot;acts&quot;</span>, <span class="charliteral">&#39;a&#39;</span>, <span class="charliteral">&#39;A&#39;</span>);</div><div class="line">  <a name="_a39"></a><a class="code" href="classArModeTCM2.html">ArModeTCM2</a> tcm2(&amp;robot, <span class="stringliteral">&quot;tcm2&quot;</span>, <span class="charliteral">&#39;m&#39;</span>, <span class="charliteral">&#39;M&#39;</span>, compass);</div><div class="line">  ArModeIO io(&amp;robot, <span class="stringliteral">&quot;io&quot;</span>, <span class="charliteral">&#39;i&#39;</span>, <span class="charliteral">&#39;I&#39;</span>);</div><div class="line">  <a name="_a40"></a><a class="code" href="classArModeRobotStatus.html">ArModeRobotStatus</a> stat(&amp;robot, <span class="stringliteral">&quot;detailed status/error flags&quot;</span>, <span class="charliteral">&#39;f&#39;</span>, <span class="charliteral">&#39;F&#39;</span>);</div><div class="line">  <a name="_a41"></a><a class="code" href="classArModeConfig.html">ArModeConfig</a> cfg(&amp;robot, <span class="stringliteral">&quot;report robot config&quot;</span>, <span class="charliteral">&#39;o&#39;</span> , <span class="charliteral">&#39;O&#39;</span>);</div><div class="line">  ArModeCommand command(&amp;robot, <span class="stringliteral">&quot;command&quot;</span>, <span class="charliteral">&#39;d&#39;</span>, <span class="charliteral">&#39;D&#39;</span>);</div><div class="line">  <a name="_a42"></a><a class="code" href="classArModeCamera.html">ArModeCamera</a> camera(&amp;robot, <span class="stringliteral">&quot;camera&quot;</span>, <span class="charliteral">&#39;c&#39;</span>, <span class="charliteral">&#39;C&#39;</span>);</div><div class="line">  ArModePosition position(&amp;robot, <span class="stringliteral">&quot;position&quot;</span>, <span class="charliteral">&#39;p&#39;</span>, <span class="charliteral">&#39;P&#39;</span>, &amp;gyro);</div><div class="line">  <a name="_a43"></a><a class="code" href="classArModeSonar.html">ArModeSonar</a> sonar(&amp;robot, <span class="stringliteral">&quot;sonar&quot;</span>, <span class="charliteral">&#39;s&#39;</span>, <span class="charliteral">&#39;S&#39;</span>);</div><div class="line">  ArModeBumps bumps(&amp;robot, <span class="stringliteral">&quot;bumps&quot;</span>, <span class="charliteral">&#39;b&#39;</span>, <span class="charliteral">&#39;B&#39;</span>);</div><div class="line">  ArModeLaser laser(&amp;robot, <span class="stringliteral">&quot;laser&quot;</span>, <span class="charliteral">&#39;l&#39;</span>, <span class="charliteral">&#39;L&#39;</span>);</div><div class="line">  <a name="_a44"></a><a class="code" href="classArModeWander.html">ArModeWander</a> wander(&amp;robot, <span class="stringliteral">&quot;wander&quot;</span>, <span class="charliteral">&#39;w&#39;</span>, <span class="charliteral">&#39;W&#39;</span>);</div><div class="line">  <a name="_a45"></a><a class="code" href="classArModeUnguardedTeleop.html">ArModeUnguardedTeleop</a> unguardedTeleop(&amp;robot, <span class="stringliteral">&quot;unguarded teleop&quot;</span>, <span class="charliteral">&#39;u&#39;</span>, <span class="charliteral">&#39;U&#39;</span>);</div><div class="line">  <a name="_a46"></a><a class="code" href="classArModeTeleop.html">ArModeTeleop</a> teleop(&amp;robot, <span class="stringliteral">&quot;teleop&quot;</span>, <span class="charliteral">&#39;t&#39;</span>, <span class="charliteral">&#39;T&#39;</span>);</div><div class="line"></div><div class="line"></div><div class="line">  <span class="comment">// activate the default mode</span></div><div class="line">  teleop.<a name="a47"></a>activate();</div><div class="line"></div><div class="line">  <span class="comment">// turn on the motors</span></div><div class="line">  robot.<a name="a48"></a><a class="code" href="classArRobot.html#aceef80a6274fb34aafcc422e4b1778c1">comInt</a>(<a name="a49"></a><a class="code" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aa8d799cced5def80525936119963aad4">ArCommands::ENABLE</a>, 1);</div><div class="line"></div><div class="line">  robot.<a name="a50"></a><a class="code" href="classArRobot.html#a403d9de010dc2b8d478cd0b14b2d9491">unlock</a>();</div><div class="line">  </div><div class="line">  <span class="comment">// Block execution of the main thread here and wait for the robot&#39;s task loop</span></div><div class="line">  <span class="comment">// thread to exit (e.g. by robot disconnecting, escape key pressed, or OS</span></div><div class="line">  <span class="comment">// signal)</span></div><div class="line">  robot.<a name="a51"></a><a class="code" href="group__easy.html#ga95201be7c39b521983b51e6f5d9303e4">waitForRunExit</a>();</div><div class="line"></div><div class="line">  <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(0);</div><div class="line">  <span class="keywordflow">return</span> 0;</div><div class="line"></div><div class="line">}</div><div class="line"></div></div><!-- fragment --> </div><!-- contents -->
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